一种会踢足球的人形机器人:设计、算法与原型

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI:10.1109/ICROM.2014.6990975

S. Mohammadi, H. Talebi, M. A. Soleimani, M. Mirsalim, S. Asgari

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引用次数: 2

摘要

人形机器人在未来的生活中扮演着重要的角色。本文的主要贡献是设计并制作了一个人形机器人的原型，该机器人将用于此类系统的研究以及机器人竞赛。采用18个伺服电机作为致动器。摄像头传感器用于获得视觉反馈。利用加速度计传感器来确定机器人的物理状态。所采用的处理器是AVR ATMEGA32和辅助AVR ATMEGA128，前者加载了包括图像处理和控制系统在内的主要算法，后者简化了与伺服电机的通信。此外，还建立了近60个独立和组合的动作，用于不同的位置。调查中还使用了五种软件。最后对机器人进行了制作，并对结果进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A soccer playing humanoid robot: Design, algorithm and prototype

Humanoid robots play an important role in the future life. The main contribution of this paper is to design and prototype a humanoid robot that is going to be employed in the study of such systems as well as robotics competitions. Eighteen servomotors are utilized as the actuators. A camera sensor is used to get visual feedback. An accelerometer sensor is utilized to determine the physical state of the robot. The employed processors are an AVR ATMEGA32 on which the main algorithm including the image processing and control system is loaded, and an auxiliary AVR ATMEGA128 for simplifying the communications with the servomotors. Moreover, close to 60 independent and combined movements are built that are used in different positions. Five software are also employed in the investigation. Finally, the robot is fabricated whose results are demonstrated.

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来源期刊

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

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